CN207148652U - A kind of ultraviolet autonomous blind landing system based on gyroplane - Google Patents
A kind of ultraviolet autonomous blind landing system based on gyroplane Download PDFInfo
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- CN207148652U CN207148652U CN201720864092.7U CN201720864092U CN207148652U CN 207148652 U CN207148652 U CN 207148652U CN 201720864092 U CN201720864092 U CN 201720864092U CN 207148652 U CN207148652 U CN 207148652U
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Abstract
A kind of ultraviolet autonomous blind landing system based on gyroplane, including gyroplane, airborne guiding equipment and landing beacon platform；Airborne guiding equipment receives the beacon signal that landing beacon platform is sent, and is transmitted after processing to the flight control computer of gyroplane and TT＆C system；The landing beacon platform, including ultraviolet beacon, beacon platform and beacon electric power system；The ultraviolet beacon and beacon electric power system are installed on beacon platform, support are fixed by beacon platform, ultraviolet beacon is powered by beacon electric power system.The utility model efficiently utilizes the characteristics of day total blindness area ultraviolet light, employ the ultraviolet beacon of sphere of movements for the elephants type landing platform of uniqueness, IMAQ is carried out by the uv electron case of high-gain, image processing algorithm and location navigation algorithm, the landing guidance work of low-visibility conditions or lower depopulated helicopter can be efficiently accomplished；Electronic box algorithm is accurate, and overall accent shadow error is small, and accurate target lock-on can be achieved.
Description
Technical field
Independent landing bootstrap technique field is the utility model is related to, it is more particularly to a kind of ultraviolet autonomous blind based on gyroplane
Drop system.
Background technology
Gyroplane landing navigation relies primarily on Satellite Navigation Technique, inertial navigation technology and computer vision navigation at present
Technology etc..But each method all has some limitations, Satellite Navigation Technique is most commonly that global positioning system, but in rotor
In last several kilometer ranges of machine independent landing guiding, the positioning precision of global positioning system does not reach requirement；Inertial navigation system
The position error of system can constantly accumulate with the passage of System production time, increasing；Navigation system based on computer vision
Development is swift and violent at present for system, but is mostly operated in visible ray or infrared band, and climate condition influences very big.
When passing through atmosphere, the ozone layer in atmosphere has solar ultraviolet radiation to 220nm~280nm ultraviolet radioactives
Strong absorption, this wave band ultraviolet radioactive there's almost no in near-earth air, due to the wave band area（220nm~
280nm）Solar radiation in atmosphere, it is especially substantially zeroed in atmosphere near sea level, so, the wave band is not by too
Positive radiation effect, form so-called day-old chick.So caused by ultraviolet light is substantially human activity present in nature.And
With stronger scattering process when being transmitted due to ultraviolet light in free atmosphere, so as to be propagated in a manner of non-directional, i.e.,
Non line of sight can be realized with cut-through thing.
Ultraviolet light beacon be by the use of " day is blind " wave band ultraviolet light wave as information carrier, using air as transmission medium,
It can be achieved based on point-to-point or point to multi--point the wireless messages connected mode in local scope.Ultraviolet light has many excellent
Point.Low eavesdropping rate, low level debate rate, strong interference immunity, comprehensive property, all weather operations etc., rather than direct-view property can be described as it is ultraviolet
Beacon light source compares an advantage the most prominent for other light sources.
Utility model content
The purpose of this utility model is to solve visible ray or infrared band existing for above-mentioned prior art, climate bar
Part influences the problem of big, there is provided a kind of ultraviolet autonomous blind landing system based on gyroplane.
Technical scheme is used by the utility model solves its technical problem：It is a kind of ultraviolet autonomous blind based on gyroplane
Drop system, including gyroplane, airborne guiding equipment and landing beacon platform；Be provided with the gyroplane flight control computer and
TT＆C system；Airborne guiding equipment receives the beacon signal that landing beacon platform is sent, and is transmitted after processing to the winged control of gyroplane
Computer and TT＆C system；The landing beacon platform, including ultraviolet beacon, beacon platform and beacon electric power system；It is described
Ultraviolet beacon and beacon electric power system is installed on beacon platform, and support is fixed by beacon platform, ultraviolet beacon by
Beacon electric power system is powered；The ultraviolet beacon provides ultraviolet source signal；The airborne guiding equipment is arranged on gyroplane,
Including day total blindness's ultraviolet-cameras and electronic box, visual light imaging unit, cloud platform control system, cradle head control executing agency, winged control
Output interface and head；The day total blindness ultraviolet-cameras and electronic box, cloud platform control system, cradle head control executing agency are pacified
On head；The electronic box is connected with day total blindness's ultraviolet-cameras, carries out data interaction；Electronic box connects with cloud platform control system
Connect, cloud platform control system is connected with the TT＆C system, cradle head control executing agency；Electronic box and the input for flying control output interface
End connection, the output end for flying control output interface are connected with flight control computer；The electronic box is connected with visual light imaging unit.
In the utility model, the ultraviolet beacon to land on beacon platform forms certain beacon array, sends ultraviolet beacon
Light source, it is airborne on day total blindness's ultraviolet-cameras obtain UV signal, UV signal is sent to electronic box, through electronic box image solution
A series of processing of module are calculated, the current position and attitude information of gyroplane is extracted, is on the one hand controlled by camera control module
Day total blindness ultraviolet-cameras processed, according to result of calculation, judge whether to need to switch camera lens, adjust the imaging contexts of camera, separately
On the one hand the result calculated is fed back into cloud platform control system and gyroplane, the flight control computer on gyroplane is according to receiving
Feedback signal, guide flight angle and the course line of gyroplane, cloud platform control system is also according to feedback data adjustment head rotation
Angle, ensure that the UV signal that ultraviolet beacon array is sent can be captured by ultraviolet-cameras, beacon array can be in the picture
The heart is presented, and realizes constantly tracking and adjust automatically.
Preferably, the airborne guiding equipment is arranged on below gyroplane fuselage.
Preferably, the electronic box includes：Camera control module, image calculation module and cradle head control module；Institute
State image calculation module to be connected with cradle head control module, image calculation module and camera control module；Described image resolves module
It is connected with visual light imaging unit, cradle head control module is connected with cloud platform control system.
Preferably, the day total blindness ultraviolet-cameras includes：Ultraviolet optics system, filter, enhanced charge-coupled device
And signal read circuit；The ultraviolet optics system, filter and enhanced charge-coupled device and signal read circuit according to
Secondary to be connected, signal read circuit resolves module with described image and is connected, and ultraviolet source pools picture into ultraviolet optics system, leads to
Cross after filter and only retain the light of ultraviolet day total blindness wave band, conveyed after enhanced type charge-coupled device by signal read circuit
Module is resolved to described image；The ultraviolet optics system and filter are connected with camera control module, carry out data interaction.
Preferably, the ultraviolet optics system includes：Telephoto lens, short-focus lens, length Jiao switch unit and diaphragm
Control structure, diaphragm control structure include the first diaphragm and the second diaphragm, the telephoto lens and short-focus lens and the length
The connection of burnt switch unit, the first diaphragm and the second diaphragm are connected with the camera control module, length Jiao switch unit and
Filter and camera control module connection.
The beneficial effects of the utility model：Due to day-old chick UV signal near the ground only because unique existing for artificial origin
Property, possess stronger " Penetrating Fog " ability, effectively prevent the environment such as the veiling glares such as marine daylight, severe salt fog, mold corrosion
The influence Deng caused by.The utility model efficiently utilizes the characteristics of day total blindness area ultraviolet light, employs the sphere of movements for the elephants type of uniqueness
The ultraviolet beacon of landing platform, IMAQ, image processing algorithm and location navigation are carried out by the uv electron case of high-gain
Algorithm, the landing guidance work of low-visibility conditions or lower depopulated helicopter can be efficiently accomplished；Electronic box algorithm is accurate, whole
The accent shadow error of body is small, and accurate target lock-on can be achieved.
Brief description of the drawings
Fig. 1 is a kind of system construction drawing of the present utility model；
Fig. 2 is a kind of electronic box of the present utility model and the connection structure diagram of day total blindness's ultraviolet-cameras.
In figure：100- gyroplanes, 11- TT＆C systems, 12- flight control computers, the airborne guiding equipment of 200-, 21- day total blindness
Ultraviolet-cameras, 211- ultraviolet optics systems, the diaphragms of 2111- first, the diaphragms of 2112- second, 2113- telephoto lenses, 2114- short focus
Camera lens, 212- length Jiao's switch units, 213- filters, the enhanced charge-coupled devices of 214-, 215- signal read circuits, 22-
Electronic box, 221- cradle head control modules, 222- image calculation modules, 223- camera control modules, 23- visual light imaging units,
24- cradle head controls executing agency, 25- cloud platform control systems, the winged control output interfaces of 26-, 27- heads, 300- landing beacon platforms,
31- beacon platforms, the ultraviolet beacons of 32-, 33- beacon electric power systems.
Embodiment
Below by specific embodiment, and with reference to accompanying drawing, the technical solution of the utility model is made further specifically
It is bright.
A kind of ultraviolet autonomous blind landing system based on gyroplane 100, as shown in figure 1, including gyroplane 100, airborne guiding
Equipment 200 and landing beacon platform 300；Flight control computer 12 and TT＆C system 11 are installed in the gyroplane 100；It is airborne
Guiding equipment 200 receives the beacon signal that landing beacon platform 300 is sent, and is transmitted after processing to the winged control calculating of gyroplane 100
Machine 12 and TT＆C system 11；The landing beacon platform 300, including ultraviolet beacon 32, beacon platform 31 and beacon power supply system
System 33；The ultraviolet beacon 32 and beacon electric power system 33 are installed on beacon platform 31, are consolidated by beacon platform 31
Fixed support, ultraviolet beacon 32 are powered by beacon electric power system 33；The ultraviolet beacon 32 provides ultraviolet source signal；It is described airborne
Equipment 200 is guided to be arranged on below the fuselage of gyroplane 100, including day total blindness's ultraviolet-cameras 21 and electronic box 22, visual light imaging
Unit 23, cradle head control executing agency 24, cloud platform control system 25, winged control output interface 26 and head 27；The day total blindness
Ultraviolet-cameras 21 and electronic box 22, visual light imaging unit 23, cradle head control executing agency 24, cloud platform control system 25 are respectively mounted
On head 27；The electronic box 22 is connected with day total blindness's ultraviolet-cameras 21, carries out data interaction；Electronic box 22 and cradle head control
System 25 is connected, and cloud platform control system 25 is connected with the TT＆C system 11, cradle head control executing agency 24；Electronic box 22 is with flying
The input connection of output interface 26 is controlled, the output end for flying control output interface 26 is connected with flight control computer 12；The electronic box
22 are connected with visual light imaging unit 23.
Beacon platform 31 uses detachable frame form, is closed by some according to certain regularly arranged horizontal stroke, longeron standard aluminum
Metal type material forms, and is easy to scene to be assembled, and forms the sphere of movements for the elephants type structure of uniqueness.
Electronic box 22 includes：Camera control module 223, image calculation module 222 and cradle head control module 221；It is described
Image calculation module 222 is connected with cradle head control module 221, image calculation module 222 and camera control module 223；The figure
It is connected as resolving module 222 with visual light imaging unit 23, cradle head control module 221 is connected with cloud platform control system 25.
As shown in Fig. 2 the day total blindness ultraviolet-cameras 21, including：Ultraviolet optics system 211, length Jiao's switch unit
212nd, filter 213, enhanced charge-coupled device 214 and signal read circuit 215, as shown in Figure 2.Ultraviolet optics system
211st, filter 213 and enhanced charge-coupled device 214 are sequentially connected with signal read circuit 215, signal read circuit 215
It is connected with image calculation module 222, the ultraviolet source that ultraviolet beacon is sent pools picture into ultraviolet optics system 211, passes through
The light of ultraviolet day total blindness wave band is only retained after filter 213, by signal read circuit after enhanced type charge-coupled device 214
215, which are delivered to described image, resolves module 222；The ultraviolet optics system 211 and filter 213 are and camera control module
223 connections, carry out data interaction.Ultraviolet light pools picture into ultraviolet optics system 211, by only being protected after filter 213
Day light of total blindness's ultraviolet band is left, enhanced charge-coupled device 214 is eventually entered into, is converted into electronic signal and is read by signal
Go out circuit 215 to export to image calculation module 222.Filter 213 selects the scheme of multi-disc absorption-type ultraviolet filter 213, has
Higher day blind ultraviolet translucency and non-non-solar-blind band cut-off.Ultraviolet optics system 211 includes：It is telephoto lens 2113, short
Zoom lens 2114, length Jiao switch unit 212 and diaphragm control structure, diaphragm control structure include the first diaphragm 2111 and second
Diaphragm 2112, telephoto lens 2113 and short-focus lens 2114 are connected with length Jiao switch unit 212, the first diaphragm 2111 and second
Diaphragm 2112 is connected with camera control module 223, and length Jiao's switch unit is connected with camera control module.Telephoto lens 2113 is used
It is imaged in distant object, coordinates first diaphragm 2111 to be adjusted light-inletting quantity, it can be ensured that camera lens is from far near
During obtain more visible image.The process of ultraviolet beacon 32 is moved closer in gyroplane 100, and the institute of telephoto lens 2113 is into figure
As gradually increase, until image can not be obtained completely, short-focus lens 2114 are now switched to.Short-focus lens 2114 coordinate the second light
Door screen 2112 realizes the imaging of latter end.Length Jiao switch unit 212, for switching long short-focus lens 2114.Enhanced Charged Couple
Device 214 is improved on the basis of existing, passes through coupling high-speed CCD, high speed readout circuit and digital mode signal output（GigE
Vision interfaces）, reduce the duration for being imaged onto output.
The work process of the present embodiment is as follows：Ultraviolet beacon 32 is arranged on beacon platform according to the beacon scheme being pre-designed
On 31, the day total blindness's ultraviolet-cameras 21 carried by airborne guiding equipment 200 obtains the ultraviolet light that sensitive ultraviolet beacon 32 is sent
Source；Ultraviolet source pools picture into ultraviolet optics system 211, and day light of total blindness's wave band is only retained by filter 213,
Form the day ultraviolet cell imaging of total blindness and be sent to electronic box 22；Electronic box 22 is handled the ultraviolet cell imaging of day total blindness, is obtained
To the picture rich in detail of Beacon Point, the image after processing and the imaging of visual light imaging unit 23 are subjected to fusion superposition, according to current
The position of Beacon Point, is calculated, the result of calculating fed back into flight control computer 12, and flight control computer 12 is according to receiving
Feedback data guides the flight of gyroplane 100, and cradle head control executing agency 24 adjusts head according to the feedback data of electronic box 22
27 anglecs of rotation, target lock-on is kept, carry out independent landing.
Embodiment described above is a kind of preferable scheme of the present utility model, not makees any shape to the utility model
Limitation in formula, there are other variants and remodeling on the premise of without departing from the technical scheme described in claim.
Claims (5)
- A kind of 1. ultraviolet autonomous blind landing system based on gyroplane, it is characterised in that including gyroplane, it is airborne guiding equipment and Land beacon platform；Flight control computer and TT＆C system are installed in the gyroplane；Airborne guiding equipment receives landing beacon The beacon signal that platform is sent, transmitted after processing to the flight control computer of gyroplane and TT＆C system；The landing beacon platform, Including ultraviolet beacon, beacon platform and beacon electric power system；The ultraviolet beacon and beacon electric power system are installed in beacon On platform, support is fixed by beacon platform, the ultraviolet beacon is powered by beacon electric power system；The ultraviolet beacon carries For ultraviolet source signal；The airborne guiding equipment is installed on gyroplane, including day total blindness's ultraviolet-cameras and electronic box, visual light imaging list Member, cloud platform control system, cradle head control executing agency, winged control output interface and head；The day total blindness ultraviolet-cameras and electricity Sub- case, cloud platform control system, cradle head control executing agency are installed on head；The electronic box is connected with day total blindness's ultraviolet-cameras, carries out data interaction；Electronic box is connected with cloud platform control system, head Control system is connected with the TT＆C system, cradle head control executing agency；Electronic box is connected with flying the input of control output interface, The output end for flying control output interface is connected with flight control computer；The electronic box is connected with visual light imaging unit.
- 2. a kind of ultraviolet autonomous blind landing system based on gyroplane according to claim 1, it is characterised in that described airborne Equipment is guided to be arranged on below gyroplane fuselage.
- A kind of 3. ultraviolet autonomous blind landing system based on gyroplane according to claim 1, it is characterised in that the electronics Case includes：Camera control module, image calculation module and cradle head control module；Described image resolves module and cradle head control mould Block connects, image calculation module and camera control module；Described image resolves module and is connected with visual light imaging unit, head control Molding block is connected with cloud platform control system.
- 4. a kind of ultraviolet autonomous blind landing system based on gyroplane according to claim 3, it is characterised in that the day is complete Blind ultraviolet-cameras includes：Ultraviolet optics system, filter, enhanced charge-coupled device and signal read circuit；It is described ultraviolet Optical system, filter and enhanced charge-coupled device and signal read circuit are sequentially connected, signal read circuit with it is described Image calculation module connects, and ultraviolet source pools picture into ultraviolet optics system, by only retaining ultraviolet day after filter The light of total blindness's wave band, described image is delivered to by signal read circuit after enhanced type charge-coupled device and resolves module；It is described Ultraviolet optics system and filter are connected with camera control module, carry out data interaction.
- 5. a kind of ultraviolet autonomous blind landing system based on gyroplane according to claim 4, it is characterised in that described ultraviolet Optical system includes：Telephoto lens, short-focus lens, length Jiao switch unit and diaphragm control structure, diaphragm control structure include First diaphragm and the second diaphragm, the telephoto lens and short-focus lens are connected with length Jiao switch unit, the first diaphragm and Second diaphragm is connected with the camera control module, and length Jiao switch unit connects with filter and camera control module Connect.
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| CN201720864092.7U CN207148652U (en) | 2017-07-17 | 2017-07-17 | A kind of ultraviolet autonomous blind landing system based on gyroplane |
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| CN201720864092.7U CN207148652U (en) | 2017-07-17 | 2017-07-17 | A kind of ultraviolet autonomous blind landing system based on gyroplane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873932A (en) * | 2018-06-13 | 2018-11-23 | 西安理工大学 | Unmanned plane bee colony attack guidance system and bootstrap technique based on wireless ultraviolet light |
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2017
- 2017-07-17 CN CN201720864092.7U patent/CN207148652U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873932A (en) * | 2018-06-13 | 2018-11-23 | 西安理工大学 | Unmanned plane bee colony attack guidance system and bootstrap technique based on wireless ultraviolet light |
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